In recent year, it is reported that roll and lateral vehicle motions are affected by the road input, and the characteristic of vehicle motions changes depending on the vehicle speed. However, there are few researches about a suspension control method which takes into consideration with the suspension characteristic that is the toe change and scuff caused by suspension stroke and tire side-force. In this paper, new active suspension control method is proposed to reduce the vehicle vibration and vehicle lateral motion due to the road input. Firstly, a vehicle model including the suspension characteristic is constructed. Next, the time delay of the road input from the front wheel to the rear wheel is modeled with Pade approximation. Then we formulate the linear parameter varying system taking amount of vehicle speed. The gain-scheduling controller based on the linear matrix inequalities which sets the lateral acceleration of the vehicle to one of controlled outputs is proposed. Finally, in order to verify the effectiveness of the proposed control method, the simulation is carried out by using the full vehicle model. From the result, it was confirmed that the proposed gain-scheduling controller can reduce the vertical and lateral motions caused by road disturbance at a different vehicle speed better than a normal H_∞ controller.